version: 66.11
glider: 190
mission: 6
dive: 235
start: 12 1 112 13 26 9
data:
$ID,190
$MISSION,6
$DIVE,235
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,2
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,480
$T_MISSION,610
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55694
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-13092.921
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3920
$C_PITCH,2890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,231
$ROLL_MAX,3841
$ROLL_DEG,25
$C_ROLL_DIVE,1440
$C_ROLL_CLIMB,1640
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,3
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2990
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.210079
$PRESSURE_SLOPE,0.0001167181
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043554804
$SEABIRD_T_H,0.00062589208
$SEABIRD_T_I,2.3694633e-05
$SEABIRD_T_J,2.5872548e-06
$SEABIRD_C_G,-9.7973194
$SEABIRD_C_H,1.1276957
$SEABIRD_C_I,-0.00090238411
$SEABIRD_C_J,0.00014727951
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,011212,131206,2458.740,-3822.378,35,0.8,36,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-64.4
$GPS2,011212,132537,2458.874,-3822.288,14,1.1,15,-14.0
$SPEED_LIMITS,0.119,0.227
$TGT_NAME,tmpNW
$TGT_LATLONG,2440.000,-3844.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,253.1,50568,-11.8,-6.875,-16.86
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.63,-146.0,0.0,0.0,0,31,0.00,0.00,-6.68,0.000,2,0.000,0.000,141,1446,1592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,34,-0.63,-146.0,2.3,0.0,1,150,11.30,1.83,-96.30,0.000,4,0.357,0.194,2684,559,3585,0,0,0,0,0,0,14.26,14.32,14.73
$GC,271,-0.59,-146.0,11.5,-9.1,24,277,0.00,1.67,0.00,0.000,6,0.000,0.118,2675,1440,3585,0,0,0,0,0,0,28.83,14.35,28.83
$GC,585,-0.56,-146.0,37.9,-9.1,55,591,0.12,1.70,0.00,0.000,4,0.241,0.132,2711,2333,3585,0,0,0,0,0,0,14.28,14.38,28.83
$GC,732,-0.61,-146.0,49.1,-8.0,69,737,0.00,1.75,0.00,0.000,6,0.000,0.145,2711,1445,3587,0,0,0,0,0,0,28.83,14.35,28.83
$GC,1046,-0.66,-146.0,75.8,-8.4,100,1051,0.00,1.67,0.00,0.000,4,0.000,0.129,2711,2324,3585,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1204,-0.71,-146.0,87.8,-7.1,115,1212,0.15,1.80,0.00,0.000,6,0.119,0.147,2643,1409,3585,0,0,0,0,0,0,14.57,14.34,28.83
$GC,1513,-0.67,-146.0,110.1,-6.8,146,1519,0.12,1.77,0.00,0.000,4,0.236,0.126,2674,2321,3585,0,0,0,0,0,0,14.35,14.26,28.83
$GC,1619,-0.67,-146.0,115.8,-5.3,156,1624,0.00,1.80,0.00,0.000,6,0.000,0.145,2674,1428,3585,0,0,0,0,0,0,28.83,14.27,28.83
$GC,1934,-0.69,-146.0,141.5,-9.3,187,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1427,3586,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2242,-0.72,-146.0,168.1,-8.1,218,2248,0.00,1.70,0.00,0.000,4,0.000,0.122,2674,2331,3585,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2317,-0.75,-146.0,173.6,-7.7,225,2323,0.00,1.77,0.00,0.000,6,0.000,0.141,2674,1425,3585,0,0,0,0,0,0,28.83,14.39,28.83
$GC,2633,-0.78,-146.0,195.9,-7.2,256,2640,0.12,1.70,0.00,0.000,4,0.132,0.123,2611,2324,3585,0,0,0,0,0,0,14.63,14.40,28.83
$GC,2703,-0.76,-146.0,201.4,-8.3,262,2710,0.08,1.73,0.00,0.000,6,0.189,0.142,2637,1451,3585,0,0,0,0,0,0,14.33,14.36,28.83
$GC,3008,-0.76,-146.0,224.7,-7.0,293,3014,0.00,1.75,0.00,0.000,4,0.000,0.158,2642,555,3585,0,0,0,0,0,0,28.83,14.37,28.83
$GC,3067,-0.73,-146.0,228.6,-7.1,298,3073,0.00,1.62,0.00,0.000,6,0.000,0.109,2633,1448,3585,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3373,-0.70,-146.0,249.6,-7.1,329,3379,0.12,1.67,0.00,0.000,4,0.243,0.126,2664,2318,3585,0,0,0,0,0,0,14.40,14.34,28.83
$GC,3533,-0.72,-146.0,259.5,-6.6,335,3538,0.00,1.67,0.00,0.000,6,0.000,0.144,2664,1460,3585,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3863,-0.75,-146.0,285.6,-8.1,346,3869,0.00,1.62,0.00,0.000,4,0.000,0.126,2664,2321,3584,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3916,-0.78,-146.0,288.3,-8.1,347,3921,0.00,1.65,0.00,0.000,6,0.000,0.144,2664,1472,3584,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4231,-0.80,-146.0,313.6,-7.3,358,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1472,3583,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4529,-0.83,-146.0,336.3,-7.6,368,4536,0.12,1.60,0.00,0.000,4,0.136,0.125,2602,2327,3581,0,0,0,0,0,0,14.71,14.49,28.83
$GC,4734,-0.82,-146.0,352.2,-8.8,374,4740,0.00,1.62,0.00,0.000,6,0.000,0.142,2601,1490,3581,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5050,-0.77,-146.0,382.2,-9.2,385,5057,0.12,1.55,0.00,0.000,4,0.244,0.126,2632,2321,3580,0,0,0,0,0,0,14.42,14.48,28.83
$GC,5094,-0.73,-146.0,385.4,-9.0,386,5100,0.00,1.60,0.00,0.000,6,0.000,0.144,2633,1500,3580,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5420,-0.72,-146.0,411.5,-7.5,397,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1500,3579,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5718,-0.70,-146.0,432.4,-6.9,407,5725,0.12,1.85,0.00,0.000,4,0.230,0.158,2669,557,3578,0,0,0,0,0,0,14.47,14.39,28.83
$GC,5783,-0.68,-146.0,436.9,-7.0,409,5790,0.00,1.75,0.00,0.000,6,0.000,0.113,2665,1503,3578,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6119,-0.71,-146.0,460.0,-7.0,420,6125,0.00,1.55,0.00,0.000,4,0.000,0.136,2664,2320,3576,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6214,-0.75,-146.0,466.6,-6.9,423,6219,0.00,1.58,0.00,0.000,6,0.000,0.148,2664,1522,3576,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6549,-0.78,-146.0,490.1,-7.1,434,6554,0.00,1.55,0.00,0.000,4,0.000,0.137,2662,2327,3575,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6733,-0.81,-146.0,503.7,-7.4,440,6739,0.12,1.65,0.00,0.000,6,0.134,0.146,2605,1488,3574,0,0,0,0,0,0,14.54,14.36,28.83
$GC,7068,-0.81,-146.0,533.8,-9.3,451,7073,0.00,1.83,0.00,0.000,4,0.000,0.165,2605,556,3572,0,0,0,0,0,0,28.83,14.38,28.83
$GC,7272,-0.75,-146.0,552.0,-9.9,457,7277,0.15,1.70,0.00,0.000,6,0.258,0.118,2640,1475,3571,0,0,0,0,0,0,14.31,14.46,28.83
$GC,7588,-0.75,-146.0,576.0,-6.7,468,7593,0.00,1.60,0.00,0.000,4,0.000,0.127,2635,2327,3570,0,0,0,0,0,0,28.83,14.44,28.83
$GC,7656,-0.75,-146.0,580.5,-6.7,470,7661,0.00,1.65,0.00,0.000,6,0.000,0.142,2635,1480,3570,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7987,-0.77,-146.0,604.3,-7.5,481,7992,0.00,1.83,0.00,0.000,4,0.000,0.158,2636,552,3569,0,0,0,0,0,0,28.83,14.38,28.83
$GC,8174,-0.75,-146.0,619.8,-8.5,487,8179,0.00,1.70,0.00,0.000,6,0.000,0.115,2632,1471,3568,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8504,-0.77,-146.0,648.0,-8.4,498,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1467,3567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8802,-0.78,-146.0,670.3,-7.1,508,8808,0.00,1.60,0.00,0.000,4,0.000,0.128,2632,2321,3566,0,0,0,0,0,0,28.83,14.41,28.83
$GC,8881,-0.80,-146.0,674.6,-6.9,510,8886,0.00,1.67,0.00,0.000,6,0.000,0.140,2632,1461,3568,0,0,0,0,0,0,28.83,14.40,28.83
$GC,9201,-0.82,-146.0,696.3,-6.6,521,9207,0.00,1.77,0.00,0.000,4,0.000,0.153,2631,553,3563,0,0,0,0,0,0,28.83,14.36,28.83
$GC,9231,-0.84,-146.0,696.3,-6.6,521,9237,0.00,1.70,0.00,0.000,6,0.000,0.107,2632,1483,3564,0,0,0,0,0,0,28.83,14.50,28.83
$GC,9537,-0.86,-146.0,719.4,-7.1,532,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1483,3562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9836,-0.87,-146.0,741.9,-7.6,542,9841,0.00,1.60,0.00,0.000,4,0.000,0.129,2631,2328,3561,0,0,0,0,0,0,28.83,14.41,28.83
$GC,9955,-0.89,-146.0,749.0,-7.5,545,9962,0.00,1.67,0.00,0.000,6,0.000,0.139,2632,1469,3561,0,0,0,0,0,0,28.83,14.38,28.83
$GC,10262,-0.91,-146.0,774.1,-7.6,556,10268,0.10,1.80,0.00,0.000,4,0.163,0.152,2588,555,3559,0,0,0,0,0,0,14.68,14.34,28.83
$GC,10367,-0.88,-146.0,782.8,-8.7,559,10373,0.00,1.67,0.00,0.000,6,0.000,0.106,2583,1466,3559,0,0,0,0,0,0,28.83,14.45,28.83
$GC,10694,-0.83,-146.0,812.2,-8.8,570,10700,0.12,1.62,0.00,0.000,4,0.269,0.126,2621,2329,3558,0,0,0,0,0,0,14.30,14.40,28.83
$GC,10758,-0.80,-146.0,817.3,-8.1,572,10763,0.00,1.70,0.00,0.000,6,0.000,0.138,2617,1463,3556,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11093,-0.80,-146.0,843.1,-7.6,583,11098,0.00,1.62,0.00,0.000,4,0.000,0.132,2617,2321,3556,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11165,-0.80,-146.0,847.8,-7.4,585,11171,0.00,1.67,0.00,0.000,6,0.000,0.138,2613,1475,3556,0,0,0,0,0,0,28.83,14.34,28.83
$GC,11492,-0.80,-146.0,870.6,-6.6,596,11497,0.00,1.62,0.00,0.000,4,0.000,0.129,2617,2321,3555,0,0,0,0,0,0,28.83,14.37,28.83
$GC,11540,-0.81,-146.0,873.1,-6.7,597,11545,0.00,1.65,0.00,0.000,6,0.000,0.138,2617,1476,3555,0,0,0,0,0,0,28.83,14.39,28.83
$GC,11860,-0.82,-146.0,897.4,-7.6,608,11866,0.00,1.62,0.00,0.000,4,0.000,0.130,2617,2321,3554,0,0,0,0,0,0,28.83,14.38,28.83
$GC,11904,-0.83,-146.0,900.2,-7.7,609,11910,0.00,1.62,0.00,0.000,6,0.000,0.138,2617,1489,3554,0,0,0,0,0,0,28.83,14.38,28.83
$GC,12230,-0.85,-146.0,928.7,-8.8,620,12235,0.00,1.85,0.00,0.000,4,0.000,0.158,2617,556,3553,0,0,0,0,0,0,28.83,14.31,28.83
$GC,12287,-0.85,-146.0,932.2,-9.1,621,12294,0.00,1.73,0.00,0.000,6,0.000,0.106,2617,1494,3552,0,0,0,0,0,0,28.83,14.45,28.83
$GC,12595,-0.86,-146.0,962.1,-9.0,632,12601,0.00,1.85,0.00,0.000,4,0.000,0.156,2616,553,3551,0,0,0,0,0,0,28.83,14.33,28.83
$GC,12715,-0.86,-146.0,971.0,-9.2,635,12721,0.00,1.70,0.00,0.000,6,0.000,0.106,2618,1477,3551,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,12926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12926,begin apogee
$GC,12933,-0.23,0.0,990.5,-7.9,643,13080,0.65,0.00,135.90,1.855,4,0.202,0.000,2807,1644,2983,0,0,0,0,0,0,14.29,28.83,13.33
$STATE,13082,end apogee,CONTROL_FINISHED_OK
$STATE,13082,begin climb
$GC,13084,0.63,146.0,997.6,0.0,648,13242,0.82,1.83,145.48,1.826,4,0.120,0.155,3088,762,2388,0,0,0,0,0,0,14.12,14.07,13.28
$GC,13471,0.58,160.4,985.0,6.4,660,13491,0.00,1.65,13.65,1.694,6,0.000,0.115,3089,1642,2331,0,0,0,0,0,0,28.83,14.36,13.64
$GC,13809,0.55,180.0,961.6,6.2,672,13839,0.00,1.73,20.38,1.740,4,0.000,0.135,3089,2523,2248,0,0,0,0,0,0,28.83,14.44,13.74
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$STATE,25977,end climb,SURFACE_DEPTH_REACHED
$STATE,25977,begin surface coast
$FINISH,1.3,1.025107
$STATE,26010,end surface coast,CONTROL_FINISHED_OK
$STATE,26011,begin surface
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$HUMID,54.96
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$TCM_TEMP,23.60
$XPDR_PINGS,1
$SC_FREEKB,7680064
$TM_FREEKB,5419168
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$10V_AH,13.0,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,344696
$DATA_FILE_SIZE,46648,1264
$CAP_FILE_SIZE,309526,0
$CFSIZE,260034560,217903104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069, 94.4,1
$GPS,011212,204223,2457.571,-3823.954,39,0.8,40,-14.1